EP3754450A1 - Surveillance de véhicule autonome - Google Patents

Surveillance de véhicule autonome Download PDF

Info

Publication number
EP3754450A1
EP3754450A1 EP19180435.0A EP19180435A EP3754450A1 EP 3754450 A1 EP3754450 A1 EP 3754450A1 EP 19180435 A EP19180435 A EP 19180435A EP 3754450 A1 EP3754450 A1 EP 3754450A1
Authority
EP
European Patent Office
Prior art keywords
orientation
basis
vehicle
measurement data
scanner
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP19180435.0A
Other languages
German (de)
English (en)
Other versions
EP3754450B1 (fr
Inventor
Jussi Puura
Tomi VON ESSEN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sandvik Mining and Construction Oy
Original Assignee
Sandvik Mining and Construction Oy
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sandvik Mining and Construction Oy filed Critical Sandvik Mining and Construction Oy
Priority to EP19180435.0A priority Critical patent/EP3754450B1/fr
Priority to CN202080042893.XA priority patent/CN113939785A/zh
Priority to PCT/EP2020/066467 priority patent/WO2020254237A1/fr
Priority to PE2021001988A priority patent/PE20220323A1/es
Priority to EA202192953A priority patent/EA202192953A1/ru
Publication of EP3754450A1 publication Critical patent/EP3754450A1/fr
Priority to ZA2021/09502A priority patent/ZA202109502B/en
Application granted granted Critical
Publication of EP3754450B1 publication Critical patent/EP3754450B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room

Definitions

  • the present invention relates to monitoring of autonomous vehicles, and in particular to monitoring articulated vehicles, such as articulated mine vehicles.
  • Underground worksites such as hard rock or soft rock mines, typically comprise a variety of operation zones intended to be accessed by different types of mobile work machines, herein referred to as mine vehicles.
  • An underground mine vehicle may be an unmanned, e.g. remotely controlled from a control room, or a manned mine vehicle, i.e. operated by an operator sitting in a cabin of the mine vehicle.
  • Mine vehicles operating in underground work sites may be autonomously operating, i.e. automated or semi-automated mine vehicles, which in their normal operating mode operate independently without external control but which may be taken under external control at certain operation areas or conditions, such as during states of emergencies.
  • Control systems monitor path of an autonomous mine vehicle on the basis of sensor input data and issue steering commands to follow a desired route.
  • wheel velocity, position relative to the environment, and articulation angle, i.e. angle of joint rotation in longitudinal axis of the mine vehicle are measured on the basis of a plurality of sensors. Sensoring adds device costs and system complexity, and retrofitting of mechanical sensors may be difficult.
  • an apparatus comprising means configured for performing: receiving first measurement data obtained on the basis of a first scanner coupled to a first portion of an articulated vehicle, receiving second measurement data obtained on the basis of a second scanner coupled to a second portion of the articulated vehicle, the second portion being articulably coupled to the first portion, defining orientation of the first portion on the basis of the first measurement data and orientation of the second portion on the basis of the second measurement data, and defining an angular value between the first portion and the second portion on the basis of the orientation of the first portion and the orientation of the second portion.
  • the means comprises at least one processor; and at least one memory including computer program code, the at least one memory and computer program code configured to, with the at least one processor, cause the performance of the apparatus.
  • a method for monitoring an articulated vehicle comprising: receiving first measurement data obtained on the basis of a first scanner coupled to a first portion of an articulated vehicle, receiving second measurement data obtained on the basis of a second scanner coupled to a second portion of the articulated vehicle, the second portion being articulably coupled to the first portion, defining orientation of the first portion on the basis of the first measurement data and orientation of the second portion on the basis of the second measurement data, and defining an angular value between the first portion and the second portion on the basis of the orientation of the first portion and the orientation of the second portion.
  • an apparatus comprising at least one processing core, at least one memory including computer program code, the at least one memory and the computer program code being configured to, with the at least one processing core, cause the apparatus at least to: receive first measurement data obtained on the basis of a first scanner coupled to a first portion of an articulated vehicle, receiving second measurement data obtained on the basis of a second scanner coupled to a second portion of the articulated vehicle, the second portion being articulably coupled to the first portion, defining orientation of the first portion on the basis of the first measurement data and orientation of the second portion on the basis of the second measurement data, and defining an angular value between the first portion and the second portion on the basis of the orientation of the first portion and the orientation of the second portion.
  • a computer program a computer program product or (a non-tangible) computer-readable medium comprising computer program code for, when executed in a data processing apparatus, to cause the apparatus to perform the method or an embodiment thereof.
  • the angular value or the angular value after further processing is applied as a steering angle value of the articulated vehicle.
  • the angular value or the angular value after further processing is provided as an input to at least one controller for the vehicle in autonomous driving mode, the at least one controller being configured to perform at least one of estimate progress of the vehicle, define or update a path for the vehicle during driving, and generate control signals for changing relation between the orientation of the first portion and the orientation of the second portion.
  • mine vehicle refers generally to mobile work machines suitable to be used in the operation of different kinds of mining and/or construction excavation worksites, such as lorries, dumpers, vans, mobile rock drilling or milling rigs, mobile reinforcement machines, bucket loaders or other kind of mobile work machines which may be used in different kinds of surface and/or underground excavation worksites.
  • mine vehicle is not limited in any way to vehicles only for ore mines, but the mine vehicle may be a mobile work machine used at excavation sites.
  • autonomously operating (or autonomous) mine vehicle herein refers to automated or semi-automated mine vehicles, which in their autonomous operating or driving mode may operate/drive independently without requiring continuous user control but which may be taken under external control during states of emergencies, for example.
  • Figure 1 illustrates a simplified example of a mine 1, in the present example an underground mine comprising a network 2 of underground tunnels.
  • a plurality of mobile objects, such as persons or pedestrians 3 and/or mine vehicles 4, 5, 6, 7 may be present in and move between different areas or operation zones of the worksite 1.
  • At least some of the vehicles 4-7 may be articulated vehicles comprising at least two sections or portions connected by at least one joint.
  • the worksite 1 comprises a communications system, such as a wireless access system comprising a wireless local area network (WLAN), comprising a plurality of wireless access nodes 8.
  • the access nodes 8 may communicate with wireless communications units comprised by the mine vehicles or carried by the pedestrians and with further communications devices (not shown), such as network device(s) configured to facilitate communications with a control system 9, which may be an on-site (underground or above-ground) and/or remote via intermediate networks.
  • a server of the system 9 may be configured to manage at least some operations at the worksite, such as provide a user interface (UI) for an operator to remotely monitor and, when needed, control automatic operation operations of the mine vehicles and/or assign work tasks for a fleet of vehicles and update and/or monitor task performance and status.
  • UI user interface
  • the system 9 may be connected to a further network(s) and system(s), such a worksite management system, a cloud service, an intermediate communications network, such as the internet, etc.
  • the system may comprise or be connected to further device(s) or control unit(s), such as a handheld user unit, a vehicle unit, a worksite management device/system, a remote control and/or monitoring device/system, data analytics device/system, sensor system/device, etc.
  • the worksite 1 may further comprise various other types of mine operations devices 10 connectable to the control system 9 e.g. via the access node 8, not in detail illustrated in Figure 1 .
  • Examples of such further mine operations devices 10 include various devices for power supply, ventilation, air condition analysis, safety, communications, and other automation devices.
  • the worksite may comprise a passage control system comprising passage control units (PCU) 11 separating operation zones, some of which may be set-up for autonomously operating mine vehicles.
  • PCU passage control units
  • the passage control system and associated PCUs may be configured to allow or prevent movement of one or more mine vehicles and/or pedestrians between zones.
  • FIG. 2 illustrates a mine vehicle 20, in this example a loader or a load and haul (LHD) vehicle comprising a bucket 26.
  • the mine vehicle 20 may be an articulated vehicle comprising (at least) two sections or portions 22, 24 connected by a joint 28. These portions 22, 24 may be body portions or bodies of the articulated vehicle 20. Both body portions may comprise two or more tyres.
  • the vehicle may comprise an automatic steering system controlling steering of the vehicle based on changing articulation angle between the portions and/or controlling tyre orientation.
  • the presently disclosed features may be applied in various other types of articulated mine vehicles.
  • the mine vehicle 20 comprises at least one control unit 30 configured to control at least some functions and/or actuators of the mine vehicle.
  • the control unit 30 may comprise one or more computing units/processors executing computer program code stored in memory.
  • the control unit may be connected to one or more other control units of a control system of the mine vehicle, in some embodiments by a controller area network (CAN) bus.
  • the control unit may comprise or be connected to a user interface with a display device as well as operator input interface for receiving operator commands and information to the control unit.
  • control unit 30 is configured to control at least autonomous driving related operations, and there may be one or more other control units in the mine vehicle for controlling other operations. It is to be appreciated that the control unit 30 may be configured to perform at least some of the below illustrated features, or a plurality of control units or controllers may be applied to perform these features. There may be further operations modules or functions performed by the control unit(s), e.g. an automatic driving mode function, at least one positioning unit/module/function, and/or an obstacle detection function.
  • the mine vehicle 20 may be unmanned.
  • the user interface may be remote from the vehicle and the vehicle may be remotely controlled by an operator in the tunnel, or in control room at the mine area or even long distance away from the mine via communications network(s).
  • a control unit outside the mine vehicle 20, for example in the control system 9 may be configured to perform some of the below illustrated features.
  • the mine vehicle 20 comprises two or more scanning units, or scanners 40a, 40b, configured to perform scanning of the environment of the mine vehicle.
  • At least one (first) scanner 40a may be arranged at/for the first portion 22 and at least one scanner 40b for the second portion 24.
  • the scanners may be configured for monitoring surrounding environment in view of their respective portion.
  • the scanner 40a may be positioned to provide scanning data for longitudinal direction and/or sideward direction in relation to the vehicle.
  • the scanner(s) may be 2D scanners configured to monitor tunnel walls at desired height, for example.
  • the control unit 30 may compare operational scanned tunnel profile data to reference profile data stored in an environment model and position the mine vehicle on the basis of finding a match in the environment model to position the mine vehicle and/or correct positioning by dead-reckoning.
  • 3D scanners are applied, in which case 3D scanning data or point cloud data is produced, which may be applied for positioning the mine vehicle.
  • Point cloud data generated on the basis of scanning may be applied for generating and updating an environment model, such as an underground tunnel model, which may be applied for positioning the mine vehicle at the worksite.
  • the scanning results are applied to detect position and orientation of the mine vehicle and one or more further elements thereof, such as the scanner 40a, 40b or the bucket 26.
  • the scanner(s) 40a, 40b are laser scanners.
  • the scanners are configured to define 3D scanning data on the basis of measurements on round trip time of flight of laser pulses emitted across measured surface or object.
  • This type of remote sensing technique is also known as LiDAR (Light Detection And Ranging).
  • the mine vehicle 20 or the control unit 30 thereof may execute a point cloud matching functionality configured to match operational (scanned) point cloud data (being scanned by the scanner(s)) to environment model point cloud data, i.e. reference point cloud data.
  • Position and direction of the scanning device and/or another interest point of the vehicle, such as the (leading edge of the) bucket 26, may be determined in the mine coordinate system on the basis of the detected matches between the operational point cloud data and the reference cloud data.
  • WO2015106799 may be applied, disclosing a system for scanning surroundings of a mine vehicle for producing data to determining position and orientation of the mine vehicle.
  • a driving plan, or a route plan may define a route to be driven by the mine vehicle 20 and may be used as an input for automatic control of the mine vehicle.
  • the plan may be generated offline and off-site, for example in an office, or on-board the mine vehicle e.g. by a teaching drive.
  • the plan may define a start point, an end point, and a set of route points for the automatic drive.
  • Such plan may be sent via a wired or wireless connection to, or otherwise loaded to the mine vehicle, to a memory of the mine vehicle for access by the control unit 30.
  • route points are not pre-defined, but the mine vehicle defines path and steering control to avoid obstacles during autonomous driving towards a destination point.
  • Figure 3 illustrates a method for monitoring an articulated vehicle according to some embodiments. The method may be performed by an articulated vehicle and a controlling apparatus thereof, such as the mine vehicle 4-7, 20, and by the control unit 30 thereof.
  • the metho may comprise receiving 310 first measurement data (set) obtained on the basis of a first scanner coupled to a first portion of an articulated mine vehicle, such as the (body) portion 22 of the mine vehicle 20.
  • the second portion is articulably coupled to the first portion, e.g. by a joint as for the mine vehicle 20.
  • Orientation of the first portion is defined 330 on the basis of the first measurement data and orientation of the second portion on the basis of the second measurement data.
  • the first and second (scanned) measurement data (sets) are independently mapped to the environment model and position and orientation are computed for the body portions on the basis of the mappings in relation to the environment, such as tunnel walls of an underground mine.
  • from absolute positions and orientations of the bodies (determined in relation to the environment), their relative positions are calculated.
  • An angular value between the first portion and the second portion is defined 340 the basis of the orientation of the first portion and the orientation of the second portion.
  • the angular value or the angular value after further processing may be applied as a steering angle value, or a carrier angle, of the articulated mine vehicle.
  • the angular value may indicate the angle ⁇ between the orientation of the first portion 22 and the orientation of the second portion 24.
  • an angular offset value (indicative of offset of the second portion from the first portion in horizontal plane) is determined on the basis of the defined orientations.
  • the steering angle value may be computed on the basis of the angular offset value.
  • the controller may be configured to perform a calibration module that calibrates the angular value (or the steering angle) by executing a bias-removing averaging function over a set of consecutive measurement results.
  • an input representative of the angular value may be provided or generated by the controller 20 at least when the vehicle is in an autonomous driving mode.
  • the controller may be configured to perform one or more of:
  • the presently disclosed features enable to avoid specific sensor arrangement for articulation angle detection. This facilitates simplification of the overall automatic driving system and impact of such sensoring to the mechanical design of the body structure is avoided. Retrofitting an automatic driving system to a mine vehicle is also easier.
  • the scanners 40a, 40b are configured to generate 3D point cloud data.
  • the orientation of the first portion and/or the orientation of the second portion may be defined 330 on the basis of the 3D point cloud data and a 3D environment model of the environment, such as a tunnel model.
  • the scanned 3D point cloud data sets of the scanners may be mapped with the environment model and the orientation (and position) may be defined for the portions on the basis of respective mapped scanned data sets.
  • the 3D environment model may be generated or updated on the basis of scanning data from at least one of the scanners.
  • the mine vehicle 20 provided with the scanners is serving as a mobile surveying device.
  • the vehicle may execute environment surveying continuously when carrying out dedicated normal operations of the vehicle. For example, the surroundings may be scanned when the vehicle stops at an unloading point. It may also be defined that the scanning is executed at least once each time when the vehicle is not moving. Thanks to this procedure, the mine may be surveyed repeatedly and in parallel to the normal operational process without any need for extra resources.
  • the 3D model of the worksite may thus be accurate and updated continuously.
  • position and/or orientation of the first portion and/or the second portion point are defined 330 on the basis of identifying a reference object in the first portion and/or the second portion on the basis of processing the first and/or second measurement data, such as scanned 3D point cloud data.
  • reference object may be any appropriate point or sub-portion of (associated portion of) the vehicle that may be detected in the measurement data on the basis of pre-stored reference object characteristics data, such as point cloud model data.
  • the orientation and/or position of the reference object is defined.
  • the position and/or orientation of associated portion is defined on the basis of defined orientation and/or position of the reference object. For example, a bucket or a sub-portion thereof may be detected as the reference object.
  • orientation of the first scanner 40a and/or second scanner 40b is defined on the basis of the first and/or second measurement data.
  • the orientation of the first portion and/or the second portion may then be defined 330 on the basis of the defined orientation of the first scanner and/or the second scanner and their relation to the respective vehicle portions 22, 24.
  • Separate (and specific) algorithms may be performed for the first portion and the second portion, and for processing the associated first and second measurement data.
  • Pre-stored geometry data which may also be referred to as model data
  • model data of the first portion
  • geometry data of the second portion may be mapped with the position and orientation of the second portion.
  • the geometry data comprises point cloud data of the boom objects.
  • a point cloud file of a body portion of the vehicle is mapped to a current pose (position and orientation) of the portion. This may be carried out by matching the point cloud with an appropriate transformation matrix (of the respective portion) and positioning the point cloud of the portion in correct start pose based on the transformation matrix.
  • the space required by the bodies may be positioned directly in correct position and orientation in view of detected walls and other obstacles.
  • Collision avoidance control may be performed on the basis of modelled first and/or second portion, i.e. geometry data of the first and/or second portion mapped with the defined position and orientation of the first and/or second portion.
  • the scanner(s) 40a, 40b may provide scanning data of obstacles which may be compared to the modelled poses of the first and/or second object (or the position of the object(s). If it is detected that (a portion of) the vehicle 20 is (or will be) too close to an obstacle, e.g. a safety distance threshold value, a corrected path and/or steering control action may be defined. A control signal associated with the corrective action may then be sent to steering control actuators, causing change of the steering angle and the angle between the first portion and the second portion.
  • a first prediction of position and/or orientation of the first portion may be defined on the basis of the first measurement data.
  • a second prediction of position and/or orientation of the second portion may be defined on the basis of the second measurement data.
  • the predictions may be applied for various purposes, such as collision avoidance control illustrated above. In an embodiment, the predictions are applied for compensating computational timing difference between computations for the first portion and the second portion.
  • An electronic device comprising electronic circuitries may be an apparatus for realizing at least some embodiments of the present invention, such as the operations illustrated in connection with Figure 3 .
  • the apparatus may be comprised in at least one computing device connected to or integrated into a control system of a mine vehicle, such as the vehicle 20.
  • a control system may be an intelligent on-board control system controlling operation of various sub-systems of the vehicle, such as a hydraulic system, a motor, a transmission system, etc.
  • Such control systems are often distributed and include many independent modules connected by a bus system of controller area network (CAN) nodes, for example.
  • CAN controller area network
  • the apparatus is add-on instrumentation to a mine vehicle.
  • Figure 5 illustrates an example apparatus capable of supporting at least some embodiments of the present invention. Illustrated is a device 50, which may comprise or implement the control unit 20 illustrated above. The device may be configured to carry out at least some of the embodiments relating to the defining the orientation relation between the vehicle portions.
  • a processor 51 which may comprise, for example, a single- or multi-core processor wherein a single-core processor comprises one processing core and a multi-core processor comprises more than one processing core.
  • the processor 51 may comprise more than one processor.
  • the processor may comprise at least one application-specific integrated circuit, ASIC.
  • the processor may comprise at least one field-programmable gate array, FPGA.
  • the processor may be means for performing method steps in the device.
  • the processor may be configured, at least in part by computer instructions, to perform actions.
  • the device 50 may comprise memory 52.
  • the memory may comprise random-access memory and/or permanent memory.
  • the memory may be at least in part accessible to the processor 51.
  • the memory may be at least in part comprised in the processor 51.
  • the memory may be at least in part external to the device 50 but accessible to the device.
  • the memory 52 may be means for storing information and parameters 54 affecting operations of the device, such as the environment model and parameters controlling at least some of the operations illustrated above.
  • the memory may comprise computer program code 53 including computer instructions that the processor is configured to execute. When computer instructions configured to cause the processor to perform certain actions are stored in the memory, and the device in overall is configured to run under the direction of the processor using computer instructions from the memory, the processor and/or its at least one processing core may be considered to be configured to perform said certain actions.
  • the device 50 may comprise a communications unit 55 comprising a transmitter and/or a receiver.
  • the transmitter and the receiver may be configured to transmit and receive, respectively, information in accordance with at least one cellular or non-cellular standard.
  • the transmitter and/or receiver may be configured to operate in accordance with global system for mobile communication, GSM, wideband code division multiple access, WCDMA, long term evolution, LTE, 3GPP new radio access technology (N-RAT), IS-95, wireless local area network, WLAN, and/or Ethernet standards, for example.
  • the device 50 may comprise a near-field communication, NFC, transceiver.
  • the NFC transceiver may support at least one NFC technology, such as NFC, Bluetooth, Wibree or similar technologies.
  • the device 50 may comprise or be connected to a UI.
  • the UI may comprise at least one of a display 56, a speaker, an input device 57 such as a keyboard, a joystick, a touchscreen, and a microphone.
  • a user may operate the device and the vehicle via the UI, for example to drive the vehicle and operate a tool thereof, change display views, control loading/unloading actions, etc.
  • the device 50 may further comprise and/or be connected to further units, devices and systems, such as one or more sensor devices 58, such as the scanner(s) 40a, 40b, or other sensor devices sensing environment of the device 50 or properties of the vehicle, for example wheel rotation.
  • sensor devices 58 such as the scanner(s) 40a, 40b, or other sensor devices sensing environment of the device 50 or properties of the vehicle, for example wheel rotation.
  • the processor 51, the memory 52, the communications unit 55 and the UI may be interconnected by electrical leads internal to the device 50 in a multitude of different ways.
  • each of the aforementioned devices may be separately connected to a master bus internal to the device, to allow for the devices to exchange information.
  • this is only one example and depending on the embodiment various ways of interconnecting at least two of the aforementioned devices may be selected without departing from the scope of the present invention.
EP19180435.0A 2019-06-17 2019-06-17 Surveillance de véhicule autonome Active EP3754450B1 (fr)

Priority Applications (6)

Application Number Priority Date Filing Date Title
EP19180435.0A EP3754450B1 (fr) 2019-06-17 2019-06-17 Surveillance de véhicule autonome
CN202080042893.XA CN113939785A (zh) 2019-06-17 2020-06-15 自主车辆监测
PCT/EP2020/066467 WO2020254237A1 (fr) 2019-06-17 2020-06-15 Surveillance de véhicule autonome
PE2021001988A PE20220323A1 (es) 2019-06-17 2020-06-15 Monitorizacion de vehiculos autonomos
EA202192953A EA202192953A1 (ru) 2019-06-17 2020-06-15 Мониторинг автономных транспортных средств
ZA2021/09502A ZA202109502B (en) 2019-06-17 2021-11-24 Autonomous vehicle monitoring

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP19180435.0A EP3754450B1 (fr) 2019-06-17 2019-06-17 Surveillance de véhicule autonome

Publications (2)

Publication Number Publication Date
EP3754450A1 true EP3754450A1 (fr) 2020-12-23
EP3754450B1 EP3754450B1 (fr) 2022-04-27

Family

ID=66951792

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19180435.0A Active EP3754450B1 (fr) 2019-06-17 2019-06-17 Surveillance de véhicule autonome

Country Status (6)

Country Link
EP (1) EP3754450B1 (fr)
CN (1) CN113939785A (fr)
EA (1) EA202192953A1 (fr)
PE (1) PE20220323A1 (fr)
WO (1) WO2020254237A1 (fr)
ZA (1) ZA202109502B (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4343106A1 (fr) * 2022-09-20 2024-03-27 Sandvik Mining and Construction Oy Détermination d'un itinéraire dans un chantier souterrain pour un véhicule minier

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015106799A1 (fr) 2014-01-14 2015-07-23 Sandvik Mining And Construction Oy Véhicule minier, système de commande de mine et procédé de cartographie
US20180165524A1 (en) * 2014-04-08 2018-06-14 Bendix Commercial Vehicle Systems Llc Generating an Image of the Surroundings of an Articulated Vehicle

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160048966A1 (en) * 2014-08-13 2016-02-18 Bendix Commercial Vehicle Systems Llc Learning the distance between cameras for articulated vehicles
US9437055B2 (en) * 2014-08-13 2016-09-06 Bendix Commercial Vehicle Systems Llc Cabin and trailer body movement determination with camera at the back of the cabin
JP2017210131A (ja) * 2016-05-26 2017-11-30 いすゞ自動車株式会社 調整装置
DE102017205114A1 (de) * 2017-03-27 2018-09-27 Zf Friedrichshafen Ag Fahrzeug mit einem Knickgelenk
BE1024801B1 (nl) * 2017-05-09 2018-07-03 Cnh Industrial Belgium Nv Verbeteringen in of met betrekking tot tractor/aanhangwagen-combinaties

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015106799A1 (fr) 2014-01-14 2015-07-23 Sandvik Mining And Construction Oy Véhicule minier, système de commande de mine et procédé de cartographie
US20180165524A1 (en) * 2014-04-08 2018-06-14 Bendix Commercial Vehicle Systems Llc Generating an Image of the Surroundings of an Articulated Vehicle

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
ROLF REIMAR KOHLMEYER: "MODELLING AND CONTROL OF AN ARTICULATED UNDERGROUND MINING VEHICLE", 1 November 2011 (2011-11-01), XP055651065, Retrieved from the Internet <URL:https://pdfs.semanticscholar.org/23b8/48c749e5c22f3807eb38efe7c995371655aa.pdf> [retrieved on 20191210] *

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP4343106A1 (fr) * 2022-09-20 2024-03-27 Sandvik Mining and Construction Oy Détermination d'un itinéraire dans un chantier souterrain pour un véhicule minier
WO2024061983A1 (fr) * 2022-09-20 2024-03-28 Sandvik Mining And Construction Oy Détermination d'un itinéraire dans un site souterrain d'exploitation pour véhicule d'exploitation minière

Also Published As

Publication number Publication date
CN113939785A (zh) 2022-01-14
EA202192953A1 (ru) 2022-03-28
EP3754450B1 (fr) 2022-04-27
PE20220323A1 (es) 2022-03-14
WO2020254237A1 (fr) 2020-12-24
ZA202109502B (en) 2024-04-24

Similar Documents

Publication Publication Date Title
US20230059996A1 (en) Mine vehicle safety control
US20220251809A1 (en) Autonomous mine vehicle operation
EP4217808A1 (fr) Commande de sécurité de véhicule minier
WO2023036994A1 (fr) Mappage de chantiers miniers
EP3754450B1 (fr) Surveillance de véhicule autonome
US20220343585A1 (en) Positioning of mobile device in underground worksite
EP3961340B1 (fr) Commande de positionnement de véhicules de chantier souterrain
EP4261646A1 (fr) Émulation de scanner pour véhicule d&#39;exploitation minière
EP4325318A1 (fr) Détection d&#39;obstacle pour véhicule minier
EP4148524A1 (fr) Contrôle de tâche de véhicule minier
EA042868B1 (ru) Мониторинг автономных транспортных средств
EP4246270A1 (fr) Transformation de coordonnées pour le positionnement de véhicules miniers
EP4325319A1 (fr) Contournement d&#39;obstacle pour véhicule minier
EP3961267A1 (fr) Commande de positionnement d&#39;un véhicule de chantier souterrain
OA21177A (en) Underground worksite vehicle positioning control.
OA21178A (en) Underground worksite vehicle positioning control.

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20210623

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20220201

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 602019014043

Country of ref document: DE

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1487423

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220515

REG Reference to a national code

Ref country code: IE

Ref legal event code: FG4D

REG Reference to a national code

Ref country code: SE

Ref legal event code: TRGR

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20220427

REG Reference to a national code

Ref country code: AT

Ref legal event code: MK05

Ref document number: 1487423

Country of ref document: AT

Kind code of ref document: T

Effective date: 20220427

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220829

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220727

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220728

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: BG

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220727

Ref country code: AT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220827

REG Reference to a national code

Ref country code: DE

Ref legal event code: R119

Ref document number: 602019014043

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20220630

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

26N No opposition filed

Effective date: 20230130

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220617

Ref country code: LI

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220630

Ref country code: IE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220617

Ref country code: FR

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220627

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220630

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: DE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230103

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20220630

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230603

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: SE

Payment date: 20230510

Year of fee payment: 5

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20230617

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: CY

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20220427

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230617